Method and apparatus for speed change control of an automatic transmission

ABSTRACT

During downshift operation of an automotive automatic transmission in which a lower-speed clutch for establishing a lower-speed gear is engaged while a higher-speed clutch, which has established a higher-speed gear, is disengaged, to increase the turbine rotational speed Nt toward a synchronous rotation speed Ntj associated with the lower-speed gear, speed change control is carried out according to the same control method regardless of whether the engine is in a power-on or power-off state. A target change rate (Nir)&#39; of turbine rotational speed associated with the higher-speed clutch and a target change rate (Nia)&#39; of turbine rotational speed associated with the lower-speed clutch are set, and a change rate (Nt)&#39; of the turbine rotational speed is detected. The transmission torque through the higher-speed clutch is controlled in a feedback manner such that the detected change rate (Nt)&#39; coincides with the change rate (Nir)&#39;, and also the transmission torque through the lower-speed clutch is feedback-controlled such that the change rate (Nt)&#39; coincides with the change rate (Nia)&#39;, thereby carrying out downshift.

BACKGROUND OF THE INVENTION

The present invention relates to a method and an apparatus for speedchange control of an automatic transmission for motor vehicles.

Automatic transmissions installed in motor vehicles comprise a largenumber of frictional engaging elements, such as hydraulic multiple discclutches, hydraulic brakes and the like. Among these clutches andbrakes, those to be operated are subjected to switching control by acontroller, to carry out a shift of the automatic transmission.

The hydraulic multiple disc clutches and the hydraulic brakes eachinclude a large number of friction plates. In such clutches and brakes,a predetermined clearance is provided between adjacent friction plates,taking machining error and assembling error into consideration, toprevent drag torque from occurring between the friction plates when theclutch or brake has been released.

Accordingly, when engaging the clutch or the like which is completelydisengaged, the piston must be moved so at to make the aforementionedclearance zero, or a so-called dead space (clearance) elimination mustbe carried out, after the application of hydraulic pressure is started.Thus, a predetermined dead space elimination time (hydraulic pressuresupply time) is required before the friction plates actually becomeengaged with each other.

On the other hand, to fully disengage the clutch or the like, after thesupply of hydraulic pressure has been stopped, the friction plates mustbe separated from each other to make the aforementioned clearancetherebetween, while the operating oil in the clutch is discharged by theforce of a return spring or the like. Thus, a predetermined hydraulicpressure release time is required before the transmission torque isreduced to zero.

In the automatic transmission described above, when downshift from thesecond to the first speed, for example, is effected, the controllerdisengages a second-speed clutch for establishing the second speed andengages a first-speed clutch for establishing the first speed, inaccordance with a predetermined program. This increases the rotationalspeed Nt of a transmission input shaft such that a change rate (Nt)'thereof becomes equal to a target change rate (Ni)'. Thereby, changeoverof the clutch connection can be carried out. The controller thenestimates the time at which the rotational speed Nt of the input shaftbecomes synchronized with a first-speed synchronous rotation speed, andstarts driving a solenoid valve for controlling the first-speed clutchat a 100% duty factor at the point of time preceding the estimated timeby a predetermined period. Thus full hydraulic pressure is applied tothe first-speed clutch. As a result, engagement of the first-clutchrapidly progresses and is completed at the estimated time. Accordingly,the engine torque transmission path is switched from the second-speedclutch to the first-speed clutch, and the automatic transmissiondownshifts from the second speed to the first speed.

When the accelerator pedal at the driver's seat is depressed duringdownshift and thus the engine is in a power-on state, the rotationalspeed Nt of the input shaft is going to rise. On the other hand, whenthe accelerator pedal is released during downshift and the engine is ina power-off state, the rotational speed Nt of the input shaft does notincrease.

To cope with such difference, the controller prestores therein a controlprogram for carrying out downshift during power-on state and a controlprogram for carrying out downshift during power-off state. When adownshift is to be effected, the controller first detects the enginedrive state, and selects one of the control programs in accordance withthe result of the detection.

More specifically, when it is determined that the engine is driven in apower-on state, the controller executes the power-on program. Inaccordance with this power on program the second-speed clutch isgradually disengaged to suppress a sudden increase of the rotationalspeed Nt of the input shaft, and the input shaft speed Nt is increasedsuch that the change rate (Nt)' thereof coincides with the target changerate (Ni)'. The controller then actuates the first-speed clutch atpredetermined timing such that the first-speed clutch becomes completelyengaged when the input shaft speed Nt reaches the first-speedsynchronous rotation speed, thereby carrying out the downshift.

On the other hand, when it is determined that the engine is driven in apower-off state, the controller executes the power-off program. Inaccordance with the power off program the second-speed clutch isimmediately disengaged, and then the first-speed clutch is graduallyengaged to increase the rotational speed Nt of the input shaft such thatthe change rate (Nt)' thereof becomes equal to the target change rate(Ni)'. After the rotational speed Nt reaches the first-speed synchronousrotation speed, the controller completely engages the first-speedclutch, thereby effecting the downshift.

If, during a downshift, the driver depresses the accelerator pedal andthe engine drive state changes from a power-off state to a power-onstate or vice versa, or if the controller makes an erroneousdetermination when the engine is operating in a boundary region betweenthe power-on and power-off states, the controller executes an improperprogram that does not match the engine drive state, causing thefollowing disadvantages.

Namely, if the controller determines that the engine is in a power-offstate and executes the power-off program although the engine is actuallyin a power-on state, the input shaft, of which the rotational speed israpidly increasing, is suddenly coupled to the first-speed clutch,causing a large shift shock. If, on the other hand, the controllerdetermines that the engine is in a power-on state and executes thepower-on program although the engine is actually in a power-off state,the rotational speed of the input shaft does not increase, thus causingproblems such that the progress of shift operation is hindered.

Further, as mentioned above, an estimate is made of the time at whichthe rotational speed Nt of the input shaft becomes synchronized with thefirst-speed synchronous rotation speed, and the first-speed clutch isquickly engaged based upon the estimated time. Therefore, if theaccelerator pedal is operated during execution of a downshift and theestimated time becomes improper, for example, the input shaft, which isnot synchronized, is abruptly coupled to the output shaft, causingproblems such as a large shift shock.

Furthermore, during the changeover of clutch connection, if engagementof the first-speed clutch is started when the second-speed clutch is notyet disengaged, interlocking (both the first-speed clutch and thesecond-speed clutch are engaged) occurs, possibly locking thetransmission. Conversely, if the first-speed clutch is engaged too late,failure of clutch connection (neither the first-speed clutch nor thesecond-speed clutch is engaged) occurs, causing an undesired rise ordrop of the engine rotation speed, depending upon the operating states,and prolonging the shift time.

OBJECTS AND SUMMARY OF THE INVENTION

The present invention was created to solve the above-described problems,and an object thereof is to provide a speed change control method for anautomotive automatic transmission which permits a downshift to beeffected properly, regardless of whether the engine is in a power-on orpower-off state.

Another object of the invention intended to solve the aforesaid problemsis to provide a method and an apparatus for speed change control of anautomotive automatic transmission which can reduce a shift shock thatoccurs at the end of shift operation.

Still another object of the invention intended to solve the aforesaidproblems is to provide a method and an apparatus for speed changecontrol of an automotive automatic transmission which permits a smoothchangeover of connection between frictional engaging elements at thestart of shift operation, thereby reducing a shift shock.

In order to achieve the above-mentioned objects, according to one aspectof the present invention, there is provided a speed change apparatus foran automotive automatic transmission including a first frictionalengaging element for establishing a first gear stage, a secondfrictional engaging element for establishing a second gear stage, afirst electromagnetic valve for controlling an operating oil pressuresupplied to the first frictional engaging element, and a secondelectromagnetic valve for controlling an operating oil pressure suppliedto the second frictional engaging element. The speed change controlapparatus operates to control the first and second electromagneticvalves such that the first frictional engaging element, which has beenengaged, is released, and the second frictional engaging element, whichhas been released, is engaged, to carry out a shift from the first gearstage to the second gear stage.

This speed change control apparatus comprises operating state detectingmeans for detecting an operating state of the automatic transmission,and feedback control means. The feedback control means includes:feedback target value setting means for setting first and secondfeedback target values; first feedback control means forfeedback-controlling the first electromagnetic valve such that anoperation state quantity detected by the operating state detecting meansconverges to the first feedback target value; and second feedbackcontrol means for feedback-controlling the second electromagnetic valvesuch that the operation state quantity detected by the operating statedetecting means converges to the second feedback target value. The firstfeedback target value is set to be greater than or equal to the secondfeedback target value. The speed change apparatus operates such that theshift from the first gear stage to the second gear stage is carried outby feedback-controlling both the first and second electromagneticvalves.

Preferably, the speed change control apparatus further includes meansfor interrupting the control operation of the first feedback controlmeans and making the transmission torque through the first frictionalengaging element substantially zero when the operation state quantitybecomes smaller than or equal to the second feedback target value.Preferably, the operation state quantity is represented by a rate ofchange in rotational speed of an input shaft of the automatictransmission.

According to another aspect of the present invention, the speed changecontrol apparatus comprises: first time measuring means for measuring atime period from the start of discharge of operating oil pressure fromthe first frictional engaging element until a transmission torquethrough the first frictional engaging element becomes substantiallyzero; second time measuring means for measuring a time period from thestart of supply of operating oil pressure to the second frictionalengaging element until a time point immediately before a time point atwhich torque is substantially transmitted through the second frictionalengaging element; and control means for controlling the start ofdischarge of operating oil pressure from the first frictional engagingelement and the start of supply of operating oil pressure to the secondfrictional engaging element, based on values detected by the first andsecond time measuring means, such that the time point at which thetransmission torque through the first frictional engaging elementbecomes substantially zero coincides with the time point immediatelybefore the time point at which torque is substantially transmittedthrough the second frictional engaging element.

Preferably, the automatic transmission includes an oil pump forsupplying operating oil pressure to the first and second frictionalengaging elements, and the speed change control apparatus includescorrection means for correcting the time periods measured by the firstand second time measuring means, based upon the temperature of theoperating oil and/or the rotational speed of the oil pump.

According to a further aspect of the present invention, the speed changecontrol apparatus comprises: synchronized point detecting means fordetecting a time point, as a synchronized point, at which the rotationalspeed of an input shaft of the automatic transmission reaches arotational speed which is regarded as corresponding to the second gearstage; first pressure increasing means for increasing the oil pressuresupplied to the second frictional engaging element to a predeterminedpressure when the synchronized point is detected; and second pressureincreasing means for further increasing the oil pressure supplied to thesecond frictional engaging element beyond the predetermined pressure.

Preferably, the speed change control apparatus includes at least one ofpredetermined-time holding means, predetermined-time continuance means,and maximum oil pressure supply means. The predetermined-time holdingmeans operates to maintain the predetermined pressure for apredetermined time period. The predetermined-time continuance meansoperates to causes the second pressure increasing means to graduallycarry out the increase of operating oil pressure and to continue thegradual pressure increase for a predetermined time period. The maximumoil pressure supply means operates to supply a maximum oil pressure tothe second frictional engaging element after the operating oil pressureis increased by the pressure increasing means. More preferably, thespeed change control apparatus further includes predetermined-pressurechanging means for changing the predetermined pressure in accordancewith an operating state of a vehicle. The operating state is representedby an engine load of the vehicle or by a torque input to the inputshaft.

According to a still further aspect of the present invention, there isprovided a speed change control method for an automotive automatictransmission in which a first frictional engaging element, which hasbeen engaged, is released, and a second frictional engaging element,which has been released, is engaged, to carry out a shift from a firstgear stage to a second gear stage. This speed change control methodcomprising the steps of: setting a first feedback target value; settinga second feedback target value smaller than the first feedback targetvalue; detecting an operating state quantity indicative of an operatingstate of the automatic transmission; and feedback-controlling atransmission torque through the first electromagnetic valve such thatthe detected operation state quantity converges to the first feedbacktarget value, and feedback-controlling a transmission torque through thesecond electromagnetic valve such that the detected operation statequantity converges to the second feedback target value.

Preferably, the feedback control associated with the first frictionalengaging element is interrupted, and the transmission torque through thefirst frictional engaging element is rendered substantially zero whenthe operation state quantity becomes smaller than or equal to the secondfeedback target value. The operation state quantity is represented by arate of change in rotational speed of an input shaft of the automatictransmission.

According to another aspect of the present invention, a speed changecontrol method comprises the steps of: storing beforehand a time periodfrom the start of discharge of operating oil pressure from the firstfrictional engaging element until a transmission torque through thefirst frictional engaging element becomes substantially zero, and a timeperiod from the start of supply of operating oil pressure to the secondfrictional engaging element until a time point immediately before a timepoint at which torque is substantially transmitted through the secondfrictional engaging element; measuring a time period elapsed from thestart of the shift; and controlling the start of discharge of operatingoil pressure from the first frictional engaging element and the start ofsupply of operating oil pressure to the second frictional engagingelement, based on the measured elapsed time and both the stored timeperiods, such that the time point at which the transmission torquethrough the first frictional engaging element becomes substantially zerocoincides with the time point immediately before the time point at whichtorque is substantially transmitted through the second frictionalengaging element.

Preferably, both the stored time periods are corrected, based upon thetemperature of the operating oil and/or the rotational speed of an oilpump of the automatic transmission.

According to a further aspect of the present invention, the speed changecontrol method comprises: a step of detecting a time point, as asynchronized point, at which the rotational speed of an input shaft ofthe automatic transmission reaches a rotational speed which is regardedas corresponding to the second gear stage; a first pressure increasingstep of increasing the oil pressure supplied to the second frictionalengaging element to a predetermined pressure when the synchronized pointis detected; and a second pressure increasing step of further increasingthe oil pressure supplied to the second frictional engaging elementbeyond the predetermined pressure.

Preferably, the first pressure increasing step includes a step ofmaintaining the predetermined pressure for a predetermined time, and thesecond pressure increasing step includes a step of gradually increasingoperating oil pressure for a predetermined time period. The speed changecontrol method further includes a step of supplying a maximum oilpressure the second frictional engaging element after the operating oilpressure is increased, and/or a step of changing the predeterminedpressure in accordance with an operating state of a vehicle which isrepresented by an engine load of the vehicle or by a torque input to theinput shaft.

As described above, in the speed change control method and apparatusaccording to the present invention, when a downshift is to be carriedout, first and second feedback target values are set, a speed changestate quantity is detected, the transmission torque through the firstfrictional engaging element is subjected to feedback control such thatthe detected speed change state quantity coincides with the firstfeedback target value, and the transmission torque through the secondfrictional engaging element is subjected to feedback control such thatthe speed change state quantity coincides with the second feedbacktarget value. This thereby effect changeover of connection of the firstand second frictional engaging elements, while increasing the rotationalspeed of the input shaft toward the lower-speed synchronous rotationspeed. At this time, at least one of these frictional engaging elementsis rendered operative. Thus, the present invention is advantageous inthat downshift can be carried out according to the same speed changecontrol method, regardless of the engine drive state, i.e., whether theengine is in a power-on or power-off state. Further, the presentinvention is advantageous in that it is possible to eliminate shiftshock, prolonged shift time, etc. which are caused by erroneousdetermination of power-on or power-off state when the engine is drivenin a boundary region between the power-on and power-off states.Furthermore, the present invention is advantageous in that, whendownshift is effected, variation in torque (shift shock) of the outputshaft of the automatic transmission can be suppressed.

Further, in the speed change control method and apparatus according tothe present invention, when synchronization of the input shaftrotational speed with a transfer rotation speed associated with a gearto be established after gear-changing is detected, the operating oilpressure for the second frictional engaging element is set to apredetermined oil pressure to advance engagement of the secondfrictional engaging element to a predetermined state. Then, theoperating oil pressure is gradually increased. Thus, the presentinvention has an effect of reducing shift shock that may occur at theend of a gear-changing operation.

Furthermore, in the speed change control method and apparatus accordingto the present invention, an oil pressure release time from the start ofdischarge of the operating oil pressure from the first frictionalengaging element to the time the torque becomes substantially zero isobtained, and also an oil pressure supply time from the start of supplyof the operating oil pressure to the second frictional engaging elementto the time immediately before the time at which torque is substantiallygenerated is obtained. When the hydraulic pressure release time of thefirst frictional engaging element is longer than the hydraulic pressuresupply time of the second frictional engaging element, hydraulicpressure is supplied to the second frictional engaging element uponlapse of a predetermined time after the discharge of hydraulic pressurefrom the first engaging element is started. On the other hand, when theabove hydraulic pressure release time is shorter than the hydraulicpressure supply time, hydraulic pressure is discharged from the firstfrictional engaging element upon lapse of a predetermined time after thesupply of hydraulic pressure to the second frictional engaging elementis started. Thus, the end of the pressure release time can be madecoincident with the end of the pressure supply time. Accordingly, thepresent invention is advantageous in that connection-switching from thefirst frictional engaging element to the second frictional engagingelement can be smoothly carried out, interlocking and undesired rise ofthe engine rotation during the gear-changing can be prevented, and theshift shock can be reduced.

These and other objects and advantages will become more readily apparentfrom an understanding of the preferred embodiment described below withreference to the following drawing figures.

BRIEF DESCRIPTION OF THE DRAWINGS

The invention will become more fully understood from the detaileddescription herein below with reference to the accompanying figures,given by way of illustration only and not intended to limit the presentinvention in which:

FIG. 1 is a schematic diagram of an automotive automatic transmissionfor carrying out a speed change control method according to the presentinvention;

FIG. 2 is a schematic diagram showing part of a gear train in a geartransmission shown in FIG. 1;

FIG. 3 is a sectional view of a clutch shown in FIG. 2;

FIG. 4 is a schematic diagram showing part of a hydraulic circuit foractuating the clutch shown in FIGS. 2 and 3;

FIG. 5 is a flow chart showing part of a first-speed clutch controlroutine executed by a controller shown in FIGS. 1 and 4;

FIG. 6 is a flow chart showing another part of the first-speed clutchcontrol routine subsequent to FIG. 5;

FIG. 7 is a flow chart showing still another part of the first-speedclutch control routine subsequent to FIG. 6;

FIG. 8 is a flow chart showing a further part of the first-speed clutchcontrol routine subsequent to FIG. 6;

FIG. 9 is a flow chart showing part of the first-speed clutch controlroutine subsequent to FIG. 6;

FIG. 10 is a flow chart showing another part of the first-speed clutchcontrol routine subsequent to FIG. 6;

FIG. 11 is a flow chart showing still another part of the first-speedclutch control routine subsequent to FIG. 6;

FIG. 12 is a flow chart showing the remaining part of the first-speedclutch control routine subsequent to FIG. 6;

FIG. 13 is a chart showing changes in duty factor of first-speed andsecond-speed solenoid valves and in turbine rotational speed during adownshift;

FIG. 14 is a flow chart of a correction amount ΔDaf calculation routineexecuted in Step S114 in FIG. 10;

FIG. 15 is a flow chart showing part of a second-speed clutch controlroutine executed by the controller;

FIG. 16 is a flow chart showing another part of the second-speed clutchcontrol routine subsequent to FIG. 15;

FIG. 17 is a flow chart showing still another part of the second-speedclutch control routine subsequent to FIG. 16;

FIG. 18 is a flow chart showing a further part of the second-speedclutch control routine subsequent to FIG. 16;

FIG. 19 is a flow chart showing part of the second-speed clutch controlroutine subsequent to FIG. 16;

FIG. 20 is a flow chart showing another part of the second-speed clutchcontrol routine subsequent to FIG. 16;

FIG. 21 is a flow chart showing still another part of the second-speedclutch control routine subsequent to FIG. 16;

FIG. 22 is a flow chart showing part of the second-speed clutch controlroutine subsequent to FIG. 21;

FIG. 23 is a flow chart showing another part of the second-speed clutchcontrol routine subsequent to FIG. 16;

FIG. 24 is a flow chart showing still another part of the second-speedclutch control routine subsequent to FIG. 23;

FIG. 25 is a flow chart showing a further part of the second-speedclutch control routine subsequent to FIG. 23;

FIG. 26 is a flow chart showing the remaining part of the second-speedclutch control routine subsequent to FIG. 23;

FIG. 27 is a conceptual diagram of a map for determining a target changerate (Nit)' of turbine rotational speed;

FIG. 28 is a chart showing time-based changes in duty factor of thesolenoid valves and clutch pressures when a hydraulic-pressure releasetime T0' of the second-speed clutch is shorter than or equal to adead-space elimination time Tf of the first-speed clutch; and

FIG. 29 is a chart showing time-based changes in duty factor of thesolenoid valves and clutch pressures when the hydraulic-pressure releasetime T0' of the second-speed clutch is longer than the dead-spaceelimination time Tf of the first-speed clutch.

DETAILED DESCRIPTION OF THE INVENTION

One embodiment of the present invention will be now described in detailwith reference to the accompanying drawings.

FIG. 1 illustrates a schematic arrangement of an automotive automatictransmission to which a speed change control method according to theinvention is applied. In the figure, reference numeral 1 denotes aninternal combustion engine, the output of which is transmitted to drivewheels (not shown) through an automatic transmission 2.

The automatic transmission 2 comprises a torque converter 4, a geartransmission 3, a hydraulic circuit 5, a controller 40, and otherelements. The gear transmission 3 includes a gear train of, e.g., afour-forward and one-reverse type, and a large number of speed-changefrictional engaging elements for effecting a speed change through theselection of a gear ratio of the gear train. The speed change frictionalengaging elements include, e.g., hydraulic clutches and hydraulicbrakes.

FIG. 2 illustrates part of the gear transmission 3. First and seconddriving gear wheels 31 and 32 are rotatably disposed around an inputshaft 3a, and hydraulic clutches 33 and 34, as the speed changefrictional engaging elements, are secured between the first driving gearwheel 31 and the input shaft 3a and between the second driving gearwheel 32 and the input shaft 3a, respectively. The driving gear wheels31 and 32, when engaged with the clutches 33 and 34, respectively,rotate together with the input shaft 3a.

An intermediate transmission shaft 35 extends parallel with the inputshaft 3a and is coupled to a drive axle via a final reduction gear, notshown. First and second driven gear wheels 36 and 37 are secured to theintermediate transmission shaft 35 and are in mesh with the driving gearwheels 31 and 32, respectively.

Thus, when the input shaft 3a is coupled to the first driving gear wheel31 through the clutch 33, rotation of the input shaft 3a is transmittedto the intermediate transmission shaft 35 through the clutch 33, thefirst driving gear wheel 31, and the first driven gear wheel 36, therebyestablishing a first speed, for example. When the input shaft 3a iscoupled to the second driving gear wheel 32 through the clutch 34,rotation of the input shaft 3a is transmitted to the intermediatetransmission shaft 35 via the clutch 34, the second driving gear wheel32, and the second driven gear wheel 37, thereby establishing, e.g., asecond speed. Thus, the clutches 33 and 34 are used to establish thefirst speed and the second speed, respectively, and accordingly, arehereinafter referred to as the first-speed clutch and the second-speedclutch, respectively.

When the first-speed clutch 33, which has been engaged, is disengagedwhile the second-speed clutch 34 is engaged, the automatic transmission2 upshifts from the first speed to the second speed. Conversely, whenthe second-speed clutch 34, which has been engaged, is disengaged whilethe first-speed clutch 33 is engaged, the automatic transmission 2downshifts from the second speed to the first speed.

The clutches 33 and 34 each comprise a hydraulic multiple disc clutch,and a section of the first-speed clutch 33 is illustrated in FIG. 3. Asillustrated, the clutch 33 comprises frictional engaging plates 50, aclutch piston 52, a return spring 53 urging the clutch piston 52 in sucha direction as to separate the piston 52 from the frictional engagingplates 50, a clutch retainer 54 containing these elements, etc.

The frictional engaging plates 50 are composed of a plurality of clutchplates 50a attached to the clutch retainer 54, and a plurality of clutchdiscs 50b each disposed between corresponding ones of the clutch plates50a. The clutch discs 50b are coupled to the driving gear wheel 31, andthe clutch retainer 54 is coupled to the input shaft 3a.

When operating oil is introduced from an oil passage 14, mentionedlater, into a cylinder defined between the clutch piston 52 and theclutch retainer 54 through a port 51, the clutch piston 52 moves to theright, as viewed in the figure, and causes the clutch plates 50a and theclutch discs 50b frictionally engage with one another. When theoperating oil is discharged from the cylinder through the oil passage14, the clutch piston 52 moves to the left, as viewed in the figure, dueto the action of the return spring 53, and the engagement between theclutch plates 50a and the clutch discs 50b is released.

In multiple disc clutches of this type, a predetermined clearance isusually provided between the clutch piston and the frictional engagingplates so that the clutch piston may not contact the frictional engagingplates when the clutch is disengaged, to thereby prevent a so-calleddrag torque. Therefore, when controlling engagement of the first-speedclutch 33, the clutch piston 52 must first be moved over a distance(ineffective stroke) corresponding to the clearance and then be held ata position immediately before a position where the clutch piston 52contacts the clutch plates 50a. Namely, a so-called dead space(clearance) elimination must be carried out, and this dead spaceelimination requires a certain time Tf.

In the case of disengaging the engaged first-speed clutch 33, even ifthe operating oil is discharged and the clutch piston 52 is removed, theclutch plates 50a and the clutch discs 50b do not instantly separatefrom one another and drag torque is produced therebetween for a while.Accordingly, before the first-speed clutch 33 is completely disengaged,a hydraulic pressure release time T0 exists from the start of dischargeof the operating oil to the time at which drag torque is no longerproduced.

The second-speed clutch 34 has the same structure as the first-speedclutch 33, and thus also requires a predetermined dead space eliminationtime Tf' and a hydraulic pressure release time T0' during engagement anddisengagement thereof, respectively.

The hydraulic circuit 5 includes duty-controlled solenoid valves(hereinafter merely referred to as "solenoid valves"), associated withthe respective speed-change frictional engaging elements, for actuatingthe corresponding frictional engaging elements, i.e., clutches andbrakes, independent of one another. These solenoid valves are operatedin a similar manner to actuate the corresponding clutches or brakes, andtherefore, only a solenoid valve for operating the first-speed clutch 33will be described with reference to FIG. 4. And and a description of theother solenoid valves has been omitted for the sake of brevity.

FIG. 4 illustrates part of the hydraulic circuit 5, in which is shown asolenoid valve 11 (hereinafter referred to as "first-speed solenoidvalve") for controlling the application and release of hydraulicpressure to and from the first-speed clutch 33. The solenoid valve 11 isa normally-closed two-position changeover valve having three ports 11ato 11c.

The first port 11a is connected to a first oil passage 13 extending toan oil pump (not shown). A pressure regulating valve or the like, notshown, is arranged midway in the first oil passage 13, to supplyoperating oil of predetermined pressure (line pressure) to the firstport 11a.

The second and third ports 11b and 11c are connected, respectively, to,a second oil passage 14 extending to the first-speed clutch 33, and athird oil passage 15 extending to an oil tank (not shown). Orifices 16and 17 are provided in the middle of the second and third oil passages14 and 15, respectively. The flow passage area of the orifice 16 in thesecond oil passage 14 is set to be greater than that of the orifice 17provided in the third oil passage 15. An accumulator 18 is arranged inthe second oil passage 14 between the first-speed clutch 33 and theorifice 16.

The solenoid valve 11 is electrically connected to the controller 40 andis subjected to duty-factor control at a predetermined frequency, e.g.,at 50 Hz. When a solenoid 11e of the solenoid valve 11 is de-energized,a valve plug 11f is displaced by a return spring 11g, whereby thecommunication between the first and second ports b and 11b is blockedwhile the second port 11b is connected to the third port 11c. When thesolenoid 11e is energized, the valve plug 11f lifts against the urgingforce of the return spring 11g, whereby the first and second ports11aand 11b are connected with each other while the communication betweenthe second and third ports 11b and 11c is blocked.

The controller 40 includes therein memories such as a ROM and a RAM, acentral processing unit, input/output devices, and counters serving astimers, none of which are shown. Various sensors such as an Nt sensor21, an No sensor 22, and a θ t sensor 23 are electrically connected tothe input side of the controller 40.

The Nt sensor 21 is a turbine speed sensor for detecting the rotationalspeed Nt of the turbine (i.e., the input shaft of the gear transmission3) of the torque converter 4, and the No sensor 22 is a transfer drivegear speed sensor for detecting the rotational speed No of a transferdrive gear (not shown). The controller 40 is operable to calculate avehicle speed V based on-the rotational speed No. The θ t sensor 23 is athrottle opening sensor for detecting the opening θ t of a throttlevalve arranged in an intake passage, not shown, of the engine 1. Thesesensors 21 to 23 supply detection signals to the controller 40 atpredetermined intervals of time.

The memory of the controller 40 prestores a control program for theengaging-side frictional engaging elements and a control program for thedisengaging-side frictional engaging elements, which are used for adownshift from a higher-speed gear stage to a lower-speed gear stage, inthis embodiment, from the second speed to the first speed. Thecontroller 40 repeatedly executes these control programs atpredetermined intervals of cycle, to carry out a changeover of theclutch connection between the engaging-side (first-speed) clutch 33 andthe disengaging-side (second-speed) clutch 34, and thereby effectingshift change or gear-changing in the automatic transmission 2.

Each of the control programs is generally composed of four procedures,i.e., first to fourth procedures. The first procedure covers a period upto the time at which the controller 40 determines that a shift or speedchange must be carried out (before time point of a in FIG. 13); thesecond procedure covers a period up to the time by which thedisengaging-side clutch 34 is completely disengaged and the transmissiontorque therethrough becomes zero or the dead space elimination of theengaging-side clutch 33 is completed (between time points a and b inFIG. 13); the third procedure covers a period in which the changeover ofclutch connection is carried out until the turbine rotational speed Ntbecomes synchronized with a rotation speed associated with thefirst-speed (between time points b and d in FIG. 13); and the fourthprocedure covers a period up to the time at which the changeover ofclutch connection is completed (between time points d and f in FIG. 13).

Now, how the controller 40 carries out a shift of the automatictransmission 2 will be described.

Engaging-side Speed Change Control

First, referring to FIGS. 5 through 12 together with FIG. 13, thecontrol operation for the engaging-side frictional engaging elementswill be explained. The controller 40 repeatedly executes a routine forthe solenoid valve associated with the first-speed clutch 33, to controlthe first-speed solenoid valve 11.

The controller 40 first executes the first procedure of the controlroutine. Specifically, in Step S60 in FIG. 5, the controller 40determines whether a flag IZA takes a value greater than or equal to"1". While the controller 40 carries out a downshift in accordance withthis program, i.e., during execution of the second or subsequentprocedure, the flag IZA is set to a value greater than or equal to "1",as described later. Accordingly, when the first procedure is executed todetect a speed change command for downshift, the flag IZA is set to "0",and the program proceeds to Step S61.

In Step S61, the controller 40 determines based on, e.g., the vehiclespeed V and the throttle opening θ t, whether a downshift from thesecond to the first speed is required. If it is concluded based on thecurrent drive state of the vehicle that the second speed shoulddesirably be maintained and a downshift to the first speed isunnecessary, that is, no speed change command is generated, thecontroller 40 ends the execution of this routine and re-executes theroutine upon lapse of the predetermined interval. Namely, the controller40 repeatedly executes the first process until a speed change commandfor downshift is detected in Steps S61.

If it is determined in Step S61 that a downshift from the second to thefirst speed is required (at time a in FIG. 13), the program proceeds toStep S62 (i.e., from the first procedure to the second procedure). Whena speed change command to downshift from the second to the first speedis generated, the controller 40 starts the counter to measure the timeTa elapsed from the generation of the speed change command.

In the second procedure, the controller 40 drives the first-speedsolenoid valve 11 at a 100% duty factor to supply the highest possiblehydraulic pressure to the first-speed clutch 33, so that the dead spaceof the first-speed clutch 33 is eliminated in the shortest possibletime. In this case, the controller 40 controls the start time foractuation of the first-speed solenoid valve 11 such that the dead spaceelimination of the first-speed clutch 11 and disengagement of thesecond-speed clutch 34, described later, are completed simultaneously,at the time b in FIG. 13.

In Step S62, the controller 40 sets the flag IZA to "1", whereby theflag IZA indicates that a downshift is under execution.

Then, in Step S64, the controller 40 reads various stored values fromthe memory. Specifically, the controller 40 reads times Tf, T0', T1 andT2, and duty factors Da0, De and Dka. The time Tf represents the deadspace elimination time of the first-speed clutch 33; the time T0'represents the hydraulic pressure release time of the second-speedclutch 34; the times T1 and T2 represent duty-factor output times usedfor engagement of the first-speed clutch 33 in the fourth procedure; theduty factor Da0 represents an initial duty factor at which thefirst-speed solenoid valve 11 for controlling the first-speed clutch 33is subjected to feedback control after the dead space of the first-speedclutch 33 is eliminated; the duty factor De represents a duty factor atwhich the first-speed solenoid valve 11 for controlling the clutch 33 isactuated after it is determined that the turbine rotational speed Nt hasbecome synchronized with the first-speed synchronous rotation speed; andthe duty factor Dka represents a minimum duty factor (hold duty factor)used for maintaining the position of the first-speed clutch 33 againstthe urging force of the return spring 53.

Preferably, the dead space elimination times Tf and Tf', and thehydraulic pressure release times T0 and T0' for the respective clutches33, 34 are corrected on the basis of the temperature of operating oilsupplied to the clutches 33 and 34, the rotational speed of the oilpump, and the like. The temperature of the operating oil greatly affectsthe viscosity thereof which in turn greatly affects the buildup time ofthe operating oil pressure applied to the clutches and the like. Thelower the operating oil temperature, the larger-the times Tf, Tf', T0,and T0' are set to. Correction coefficients used are experimentallydetermined. The rotational speed of the oil pump, on the other hand,greatly affects the discharge pressure and displacement thereof. In thecase of using a large-capacity oil pump capable of producing asufficient discharge pressure even during low-speed rotation, noparticular problem arises, but in the case of using a low-capacity oilpump, correction is required. In this case, the lower the rotationalspeed than a predetermined rotational speed, the larger the correctioncoefficient must be set to. Further, the times Tf and Tf' are correctedby learning control, to be able to cope with change of the clutcheswhich occurs with passage of time. For such learning control, thelearning method disclosed in U.S. Pat. No. 4,943,920 can be used.

The duty factor De is determined from a predetermined map stored inmemory, in accordance with, e.g., the engine load and the torque of theturbine input shaft. The engine torque can be determined based on, e.g.,the throttle opening θ t detected by the θ t sensor 23, and the intakeair quantity detected by an airflow sensor, not shown.

Subsequently, in Step S65, the controller 40 reads the elapsed time Tameasured by the counter, and the program proceeds to Step S70 in FIG. 6.

In Step S70, the controller 40 determines whether the second procedurehas ended. Specifically, the controller 40 determines whether theelapsed time Ta is longer than the dead space elimination time Tf of thefirst-speed clutch 33 and at the same time longer than the hydraulicpressure release time T0' of the second-speed clutch 34. If the resultof the determination is No, i.e., if the dead space elimination of thefirst-speed clutch 33 is not yet completed and the release of hydraulicpressure from the second-speed clutch 34 also is not complete, theprogram proceeds from Step S70 to Step S80 in FIG. 7 each time theroutine is executed, thereby continuing the dead space elimination ofthe first-speed clutch 33.

In Steps S80 to S83, the controller 40 checks the lengths of the deadspace elimination time Tf of the first-speed clutch 33 and the hydraulicpressure release time T0' of the second-speed clutch 34, and controlsthe start time for releasing the operating oil pressure from thesecond-speed clutch 34 and the start time for elimination of the deadspace of the first-speed clutch 33, such that the second-speed clutch 34is completely disengaged. Thus, the torque transmitted therethroughbecomes zero simultaneously with completion of the dead spaceelimination of the first-speed clutch 33, in order to smoothly switchthe clutch connection between the clutches 33 and 34.

FIGS. 13 and 28 illustrate a case where the dead space elimination timeTf of the first-speed clutch 33 is longer than the hydraulic pressurerelease time T0' of the second-speed clutch 34. In this case, after thedead space elimination of the first-speed clutch 33 is started, releaseof the hydraulic pressure from the second-speed clutch 34 is startedupon lapse of the time (Tf-T0') (i.e., at time h). Thus the dead spaceelimination of the first-speed clutch 33 and the release of hydraulicpressure from the second-speed clutch 34 can be completed simultaneouslyat the time b in the figures.

In the case illustrated in FIGS. 13 and 28, the result of thedetermination in Step S80 becomes No, and the program proceeds to StepS81. In Step S81, the controller 40 actuates the first-speed solenoidvalve 11 at a 100% duty factor, whereby the dead space elimination ofthe first-speed clutch 33 is started before the release of hydraulicpressure from the second-speed clutch 34 is started. As a result, theoperating oil pressure in the first-speed clutch 33 begins to rise (FIG.28).

After executing Step S81, the controller 40 ends the execution of theroutine. When the routine is executed next upon lapse of thepredetermined interval, the condition of Step S60 in FIG. 5 isfulfilled, because the flag IZA has been set to "1" in Step S63 executedimmediately after generation of the speed change command. Accordingly,the program proceeds from Step S60 to Step S65. The controller 40 thenexecutes Step S70 in FIG. 6 and Steps S80 and S81 in FIG. 7, therebycontinuing the dead space elimination of the first-speed clutch 33. Thisdead space elimination is continuously carried out for the periodbetween time a and time b in FIGS. 13 and 28 as the second procedureprogresses.

While the dead space of the first-speed clutch 33 is eliminated, a largeamount of operating oil is supplied to the clutch 33. However since thepiston 52 moves forward in response to the supply of operating oil, theoperating oil pressure in the first-speed clutch 33 changes almostconstantly, as shown in FIG. 28.

When it is determined in Step S80 that the hydraulic pressure releasetime T0' of the second-speed clutch 34 is longer than the dead spaceelimination time Tf of the first-speed clutch 33, the program proceedsto Step S82. In this case, in order to make the time at which thesecond-speed clutch 34 is completely disengaged coincident with the timeat which the dead space elimination of the first-speed clutch 33 iscompleted at time b' in FIG. 29, the dead space elimination of thefirst-speed clutch 33 must be started upon lapse of the time (T0'-Tf)after the release of hydraulic pressure from the second-speed clutch 34is started (i.e., at time h').

Accordingly, the dead space elimination of the first-speed clutch 33 isnot carried out before the elapsed time Ta reaches the time (T0'-Tf),and when the condition of Step S82 is not fulfilled, the programproceeds to Step S83 wherein the controller 40 drives the first-speedsolenoid valve 11 at a 0% duty factor. The controller 40 repeats theprogram and executes Step S83 until the condition of Step S82 isfulfilled, whereby the duty factor of the first-speed solenoid valve 11remains at 0% until the elapsed time Ta reaches the time (T0'-Tf).

When the elapsed time Ta becomes longer than the time (T0'-Tf) and thusthe condition of Step S82 is fulfilled while program is repeatedlyexecuted, the program proceeds from Step S82 to Step S81. Accordingly,while repeatedly executing the program, the controller 40 continuouslyactuates the first-speed solenoid valve 11 at 100% duty factor for thedead space elimination time Tf. Thus, the second procedure progresses.

When the time b in FIG. 13 is reached as the elapsed time Ta increases,the dead space elimination of the first-speed clutch 33 is complete, andalso the disengagement of the second-speed clutch 34 is complete, asdescribed later. Accordingly, the result of the determination in StepS70 becomes Yes, and the program proceeds from the second procedure tothe third procedure.

Upon entering the third procedure, Step S71 is executed wherein thecontroller 40 determines whether the flag IZA is equal to "4".Immediately after the program proceeds from the second procedure to thethird procedure, the flag IZA is still "1" and the turbine rotationalspeed Nt is usually not deviated from a synchronous rotation speedassociated with the second speed. Accordingly, after executing Steps S71to S75, the program proceeds to Step S90 in FIG. 8.

In Step S90, the controller 40 sets the flag IZA to "2", and thenexecutes Step S91. In Step S91, the controller 40 sets the duty factorDa of the first-speed solenoid valve 11 to the initial duty factor Da0,and then executes Step S92 wherein it is determined whether the dutyfactor Da takes a value greater than or equal to the hold duty factorDka. In the duty factor Da is greater than or equal to the hold dutyfactor Dka, the program proceeds to Step S94, without executing StepS93.

When it is determined in Step S92 that the duty factor Da is smallerthan the hold duty factor Dka, the program proceeds to Step S93. If thefirst-speed solenoid valve 11 is driven at the duty factor Da while theduty factor Da is smaller than the hold duty factor Dka, the position ofthe piston 52 of the first-speed clutch 33 cannot be maintained againstthe urging force of the return spring 53, so that the clutch plates 50aand clutch discs 50b of the frictional engaging plates 50 are separatedfrom one another, requiring the dead space to be eliminated again.Therefore, in Step S93, the controller 40 sets the duty factor Da to thehold duty factor Dka at which a minimum oil pressure is supplied suchthat the position of the piston 52 can be retained, and the programproceeds to Step S94.

In Step S94, the controller 40 actuates the first-speed solenoid valve11 at the duty factor Da. Namely, in this case, the controller 40actuates the solenoid valve 11 at the initial duty factor Da0 (or Dka)(at time b in FIG. 13). After executing Step S94, the controller 40 endsexecution of the routine.

When the routine is executed next, the program proceeds to Steps S60 andS65 in FIG. 5 and Steps S70 to S75 in FIG. 6. Since the flag IZA hasbeen set to "2" in Step S90, the condition of Step S75 is fulfilled, andthe program proceeds to Step S100 in FIG. 9.

In Step S100, the controller 40 reads a duty-factor incremental valueΔDa2, which is predetermined according to modes of downshift such as asecond-to-first downshift or a third-to-second downshift. Then, thecontroller 40 obtains a new duty factor Da by adding the incrementalvalue ΔDa2 to the previous duty factor Da, in Step S101, and the programproceeds to Step S92 in FIG. 8. Executing Steps S92 and S94, thecontroller 40 actuates the first-speed solenoid valve 11 at the dutyfactor Da.

The controller 40 successively increases the duty factor Da of thefirst-speed solenoid valve 11, by ΔDa2 at each control interval, untildeviation of the turbine rotational speed Nt from the second-speedsynchronous rotation speed is detected (from time b to time c in FIG.13). As a result, engagement of the first-speed clutch 33, which hasmoved to the position where no dead space exists, gradually progresses,and the transmission torque through the first-speed clutch 33 isgenerated even if the engine 1 is in a power-off state, whereby theturbine rotational speed Nt becomes deviated from the second-speedsynchronous rotation speed Nti and changes toward the first-speedsynchronous rotation speed Ntj (FIG. 13).

When the rotational deviation progresses and the difference between theturbine rotational speed Nt and the second-speed synchronous rotationspeed Nti becomes equal to ΔNb, the condition of Step S74 in FIG. 6 isfulfilled, and the controller 40 detects such a deviation from thesecond-speed synchronous rotation speed (at time c in FIG. 13). Upondetecting the deviation from the second-speed synchronous rotationspeed, the program proceeds to Step Si10 in FIG. 10.

In Step Si10, the controller 40 sets the flag IZA to "3", and thenrewrites the initial duty factor Da0 to the latest duty factor Da. Toquickly start the speed change control (the feedback control of thetransmission torque through the first-speed clutch 33), the initial dutyfactor Da0 should preferably be set to a value as close to the dutyfactor best suited for starting the feedback control as possible. Tothis end, the duty factor applied at the time of detection of thedeviation from the synchronous rotation speed, i.e., at the start ofshift operation, is learned each time the speed change control isexecuted, and the learned value is successively updated as the initialduty factor Da0 and stored (Step S111).

Then, in Step S111a, the controller 40 resets deviations (Ge)n-1 and(Gi)n-1 of the preceding cycle, mentioned later, individually to aninitial value of "0".

The program then proceeds to Step S112 wherein the controller 40 obtainsa rate (Nt)' of change in the turbine rotational speed Nt. Specifically,the controller 40 obtains an actual change rate (Nt)' of turbinerotational speed, which is a time-based differential value of theturbine rotational speed Nt, based upon the turbine rotational speed Ntdetected in the preceding cycle and that detected in the present cycle.Symbol (Nt)' thus represents the time-based differential value of therotational speed Nt, and in the following, other time-based differentialvalues are expressed in a similar manner.

Subsequently, in Step S113, the controller 40 reads a target change rate(Nia)' of turbine rotational speed. The target change rate (Nia)' ispredetermined according to individual downshift modes and prestored inthe memory of the controller 40. The program then proceeds to Step S114,in which the controller 40 obtains a duty-factor correction amount(feedback correction amount) ΔDaf based upon the difference between theactual change rate (Nt)' and the target change rate (Nia)' of turbinerotational speed. The correction amount ΔDaf can be calculated invarious ways and there is no particular restriction on the calculationmethod; for example, a calculation method used in conventional PIDcontrol may be used to obtain the correction amount.

FIG. 14 illustrates a specific example of the correction amountcalculation procedure used in PID control. First, in Step S300, thecontroller 40 subtracts the actual change rate (Nt)' from the targetchange rate (Nia)' of turbine rotational speed to obtain a deviation(Ge)n of the present cycle, and then executes Steps S301 to S303 toobtain an integral correction amount (Gi)n, a proportional correctionamount Gp, and a differential correction amount Gd.

More specifically, in Step S301, the controller 40 adds a value obtainedby multiplying the deviation (Ge)n of the present cycle by apredetermined coefficient Ki to the integral correction amount (Gi)n-1of the preceding cycle, to thereby obtain an integral correction amount(Gi)n of the present cycle. Then, in Step S302, the deviation (Ge)n ofthe present cycle is multiplied by a predetermined coefficient Kp toobtain a proportional correction amount Gp. In Step S303, a valueobtained by subtracting the deviation (Ge)n-1 of the preceding cyclefrom the deviation (Ge)n of the present cycle is multiplied by apredetermined coefficient Kd to obtain a differential correction amountGd. Then, in Step S304, the controller 40 adds together the integralcorrection amount (Gi)n, the proportional correction amount Gp and thedifferential correction amount Gd to obtain the duty factor correctionamount ΔDaf. The coefficients Ki, Kp and Kd are preset values determinedexperimentally.

Subsequently, in Step S305, the controller 40 sets and stores thedeviation (Ge)n obtained in the present cycle as the deviation (Ge)n-1of the preceding cycle, which has been reset in Step S111aand in StepS306, sets and stores the integral correction amount (Gi)n obtained inthe present cycle as the integral correction amount (Gi)n-1 of thepreceding cycle, which also has been reset in Step S111a, followed bytermination of the correction amount calculation routine.

Referring again to FIG. 10, in Step S115, the controller 40 sets the sumof the initial value Da0 and the correction amount ΔDaf as the dutyfactor Da. Then, the program proceeds to Step S92 in FIG. 8 and executesSteps S92 to S94, to energize the first-speed solenoid valve 11 at thethus-set duty factor Da. Thus, the controller 40 initiates the feedbackcontrol to increase the turbine rotational speed Nt such that the changerate (Nt)' thereof becomes equal to the target change rate (Nia)'.

When the routine is executed next, the controller 40 successivelyexecutes Steps S60, S65 and S70 to S73. Since the flag IZA has been setto "3" in Step S110 as mentioned above, the program proceeds from StepS73 to Step S112 in FIG. 10.

Accordingly, Steps S112 to S115 and S92 to S94 are executed and thecontroller 40 carries out the feedback control of the duty factor Da ofthe first-speed solenoid valve 11 such that the change rate (Nt)' ofturbine rotational speed becomes equal to the target change rate (Nia)'.Namely, the controller 40 repeatedly executes the program and continuesthe feedback control until synchronization of the turbine rotationalspeed Nt with the first-speed rotation speed Ntj is detected (time d inFIG. 13). Consequently, the engagement of the first-speed clutch 33gradually progresses while the second-speed clutch 34 is operated in themanner described later, whereby the turbine rotational speed Ntincreases as shown in FIG. 13.

When the turbine rotational speed Nt becomes close to the first-speedsynchronous rotation speed Ntj, or more specifically, when the absolutevalue of the difference between the turbine rotational speed Nt and thefirst-speed synchronous rotation speed Ntj has become smaller than apredetermined value ΔNf (e.g., 50 rpm), the controller 40 determinesthat the turbine rotational speed Nt is synchronized with thefirst-speed synchronous rotation speed Ntj (at time d of FIG. 13). Whensuch synchronization is detected, the result of the determination inStep S72 becomes Yes, and thus the program proceeds to Step S121 in FIG.11 (the flow progresses from the third procedure to the fourthprocedure). At this time, the controller 40 starts the counter tomeasure the time Tb elapsed from the entry into the fourth procedure.

In Step S121, the controller 40 sets the flag IZA to "4", and in StepS122, sets the duty factor De, read in Step S64, as the duty factor Da.Then, the controller 40 executes Steps S92 to S94 in FIG. 8 to energizethe first-speed solenoid valve 11 at the duty factor Da (=De). Namely,at the time d in FIG. 13, the duty factor Da of the first-speed solenoidvalve 11 is rapidly increased to the predetermined duty factor De.

Since the flag IZA has been set to "4" in Step S121, the result of thedetermination in Step S71 becomes Yes, and the program proceeds to StepS130 in FIG. 12.

In Step S130, the controller 40 reads the elapsed time Tb, and then inStep S131, compares the elapsed time Tb with the aforementionedduty-factor output time T1. Namely, the controller 40 repeatedlyexecutes Steps S131 to S132 each time the routine is repeated until theelapsed time Tb reaches the predetermined time T1, thereby continuouslydriving the first-speed solenoid valve 11 at the duty factor Da outputin the preceding cycle, i.e., the duty factor De (from time d to time ein FIG. 13).

When the elapsed time Tb reaches the time T1 (at time e), the programproceeds from Step S131 to Step S133 and the controller 40 determineswhether the elapsed time Tb has reached the time (T1+T2). If thiscondition is not fulfilled, the controller 40 executes Step S134 to reada duty-factor incremental value ΔDal. The duty-factor incremental valueΔDal is preset according to, e.g., individual modes of downshift, likethe aforementioned incremental value ΔDa2.

Then, in Step S135, the controller 40 adds together the duty factor Daof the preceding cycle and the incremental value ΔDA1 to obtain a newduty factor Da. Subsequently, the controller 40 executes Steps S92 toS94 in FIG. 8 and energizes the first-speed solenoid valve 11 at theduty factor Da (=Da+ΔDal).

The controller 40 repeatedly executes this routine until the elapsedtime Tb reaches the time (T1+T2), to gradually increase the duty factorDa of the first-speed solenoid valve 11 at a predetermined rate (ΔDal)and thereby gradually increase the operating oil pressure of thefirst-speed clutch 33 (from time e to time f in FIG. 13).

When the elapsed time Tb reaches the time (T1+T2) at f in FIG. 13, thecondition of Step S133 is fulfilled and the program proceeds to StepS136. In Step S136, the controller 40 energizes the first-speed solenoidvalve 11 at a 100% duty factor. Consequently, the first-speed clutch 33is completely engaged, while the second-speed clutch 34 is completelydisengaged as described later, whereby the changeover of clutchconnection between the clutches 33 and 34 is completed and the downshiftof the automatic transmission 2 from the second speed to the first speedis accomplished.

During the period from d to e shown in FIG. 13, the first-speed solenoidvalve 11 need not be actuated continuously at the duty factor De;alternatively, the duty factor Da may be gradually increased, by apredetermined incremental value ΔDa1' at a time, during the period fromd to f.

Subsequently, the program proceeds to Step S137, and the controller 40sets the flag IZA to "0" and ends the execution of the routine.

In the case where the turbine rotational speed Nt starts to rise in theprogress of the dead space elimination of the first-speed clutch 33 andis deviated from the second-speed synchronous rotation speed, asindicated by the dashed line in FIG. 13, the controller 40 executesSteps S70 (FIG. 6) and S71 to S74 upon completion of the dead spaceelimination, and immediately initiates the feedback control in Step S110and the subsequent steps of FIG. 10.

Disengaging-side Speed Change Control

Referring now to FIG. 13 and FIGS. 15 through 26, the procedure forcontrolling the disengaging-side frictional engaging means will beexplained. The controller 40 repeatedly executes the second-speedsolenoid valve control routine, to thereby control the solenoid valve11' (hereinafter referred to as the "second-speed solenoid valve") foractuating the second-speed clutch 34. As previously mentioned, thesecond-speed solenoid valve 11' has the same structure as thefirst-speed solenoid valve 11, and therefore, is not illustrated.

The controller 40 first executes the first procedure of this controlroutine. Namely, in Step S160 of FIG. 15, the controller 40 determineswhether a flag IZR takes a value greater than or equal to "1". While thecontroller 40 carries out a downshift according to this controlprocedure, i.e., while the second or subsequent process is executed, theflag IZR is set to a value greater than or equal to "1" as describedlater. Thus, when the first procedure is being executed to determine thegeneration of a speed change command for downshift, the flag IZR is setto "0" and the controller 40 executes Step S161.

In Step S161, the controller 40 determines whether a speed changecommand to downshift from the second to the first speed has beengenerated, as in Step S61 of FIG. 5. When no speed change command isgenerated, the controller 40 ends the execution of this routine, andrepeatedly executes the first procedure until generation of a speedchange command for downshift is detected in Step S161.

When generation of the speed change command is detected (at time a inFIG. 13), the program proceeds from Steps S161 to Steps S162, i.e., fromthe first procedure to the second procedure. At this time, thecontroller 40 starts the counter to measure the time Ta elapsed from thegeneration of the speed change command.

The time Ta thus measured is identical with the elapsed time Ta used inthe first-speed solenoid valve control routine, and accordingly, whenthe second procedure of the first-speed solenoid valve control routineis started, the time Ta measured in the engaging-side control routine isused as the time Ta for the disengaging-side control routine.

In the second procedure, the controller 40 actuates the second-speedsolenoid valve 11' at a 0% duty factor to disengage the second-speedclutch 34 in the shortest possible time. In this case, the controller 40controls the start time for actuating the second-speed solenoid valve11' such that the disengagement of the second-speed clutch 34 and thedead space elimination of the first-speed clutch 33 are completed at thesame time, i.e., at b in FIGS. 13 and 28, as mentioned before. Thiscontrol operation will be described in detail later.

In Step S162, the controller 40 sets the flag IZR to "1", whereby theflag IZR indicates that the downshift is under execution. The controller40 then reads various stored values in Step S164. More specifically, thecontroller 40 reads the times Tf, T0', T1 and T2, and the duty factorsDr0 and Dkr. As previously mentioned, the time Tf represents the deadspace elimination time of the first-speed clutch 33; the time T0'represents the hydraulic pressure release time of the second-speedclutch 34; the duty factor Dr0 represents an initial duty factor for thesecond-speed solenoid valve 11' applied after the release of hydraulicpressure from the second-speed clutch 34; and the duty factor Dkrdenotes a hold duty factor for holding the piston of the second-speedclutch 34 at the position where the transmission torque is zero.

Then, after reading the elapsed time Ta in Step S165, the controller 40executes Step S170 in FIG. 16.

In Step S170, the controller 40 determines whether the time for startingthe disengagement of the second-speed clutch 34 has been reached.Specifically, the controller 40 determines whether the disengagementtime T0' of the second-speed clutch 34 is shorter than the dead spaceelimination time Tf of the first-speed clutch 33 and at the same timethe elapsed time Ta takes a value smaller than or equal to the time(Tf-T0').

In the case where the dead space elimination time Tf is longer than thedisengagement time T0', disengagement of the second-speed clutch 34 mustbe started when the time (Tf-T0') has elapsed from the start of the deadspace elimination of the first-speed clutch 33, in order to make thetime at which the second-speed clutch 34 is completely disengaged andthe time at which the dead space elimination of the first-speed clutch33 is completed to be coincident with the time b.

In FIGS. 13 and 28 wherein the dead space elimination time Tf is longerthan the disengagement time T0', while the elapsed time Ta remainsshorter than the time (Tf-T0'), i.e., between time a and time h in FIG.13, the controller 40 executes Step S180 in FIG. 17 and continuouslyenergizes the second-speed solenoid valve at a 100% duty factor, wherebydisengagement of the second-speed clutch 34 is suspended.

The controller 40 repeats the routine and executes Steps S160 and S165(FIG. 15), Step S170 (FIG. 16) and Step S180 (FIG. 17) until the elapsedtime Ta reaches the time (Tf-T0'), and thus the second-speed clutch 34is maintained in an engaged state.

When the disengagement time T0' is longer than the dead spaceelimination time Tf as shown in FIG. 29, the program proceeds from StepS175, mentioned later, to Step S185 in FIG. 18, and the controller 40sets the duty factor of the second-speed solenoid valve 11' to 0% tostart the disengagement at time a' in the figure.

Referring to FIG. 13, when the elapsed time Ta reaches the time (Tf-T0')at h in the figure, the result of the determination in Step S170 becomesNo, and the program proceeds to Step S171. Since the flag IZR has beenset to "1" in Step S162, and since the turbine rotational speed Nt isusually not significantly deviated from the second-speed synchronousrotation speed Nti, the controller 40 executes Steps S171 to S174, andthe program proceeds to Step S175.

In Step S175, the controller 40 determines whether the elapsed time Tais longer than the time Tf and at the same time longer than the timeT0'. Immediately after the elapsed time Ta reaches the time (Tf-T0'),the result of the determination in Step S175 becomes No. In this case,the program proceeds to Step S185 in FIG. 18 and the controller 40operates the second-speed solenoid valve 11' at a 0% duty factor, tostart disengagement of the second-speed clutch 34 (at time h in FIG.13). Consequently, the operating oil pressure in the second-speed clutch34 rapidly decreases (FIG. 28).

When operation of the second-speed solenoid valve 11' at 0% duty factorhas been continued for the disengagement time T0' (at b in FIG. 13)while the controller 40 repeats the routine, the second-speed clutch 34is completely disengaged and the transmission torque therethroughbecomes zero, and at the same time the dead space elimination of thefirst-speed clutch 33 is completed as mentioned above. As a result, theswitching of clutch connection between the clutches 33 and 34 issmoothly carried out, and the program proceeds from the second procedureto the third procedure.

When the condition of Step S175 in FIG. 16 is fulfilled, the controller40 executes Step S190 in FIG. 19 and sets the read duty factor Dkr as aduty factor Dr for the second-speed solenoid valve 11'. When thesecond-speed solenoid valve is energized at the duty factor Dkr, thepiston position and operating oil pressure of the second-speed clutch 34are maintained. The piston of the second-speed clutch 34 is presentlylocated at a position where the engagement is completely released, i.e.,a position immediately before engaged state. Therefore, when thesecond-speed solenoid valve 11' is actuated at the duty factor Dkr, thepiston of the second-speed clutch 34 is held at that position justbefore engaged state.

After setting the duty factor Dkr as the duty factor Dr, the controller40 compares the duty factor Dr with the hold duty factor in Step S192,and executes Step S194. Specifically, in Step S192, the controller 40determines whether the duty factor Dr takes a value greater than orequal to the hold duty factor Dkr. This determination is made to preventthe duty factor Dr of the second-speed solenoid valve 11' from being setto a value smaller than or equal to the hold duty factor Dkr during thefeedback control described later.

If the duty factor Dr is set to a value smaller than the hold dutyfactor Dkr and the second-speed solenoid valve 11' is actuated at such asmall duty factor Dr, then the piston of the second-speed clutch 34cannot be maintained against the force of the return spring 53', so thatthe frictional engaging plates (the clutch plates 50a and the clutchdiscs 50b) are separated from one another. Thus, when engaging thesecond-speed clutch 34 again, dead space elimination must be carriedout. Accordingly, when the duty factor Dr is greater than or equal tothe hold duty factor Dkr, the program proceeds to Step S194, withoutexecuting Step S193. On the other hand, when the duty factor Dr issmaller than the hold duty factor Dkr, the controller 40 executes StepS193. This thereby sets the hold duty factor Dkr as the duty factor Drso that the minimum oil pressure is supplied to hold the pistonposition. Subsequently the program then proceeds to Step S194.

In Step S194, the controller 40 actuates the second-speed solenoid valve11' at the duty factor Dr. Immediately after the hydraulic pressure isreleased from the second-speed clutch 34 (at time b in FIGS. 13 and 28),the controller 40 energizes the solenoid valve 11' at the hold dutyfactor Dkr.

The controller 40 repeatedly executes this routine at predeterminedcontrol intervals, thereby continuously actuating the second-speedsolenoid valve at the hold duty factor Dkr. This operation is continuedat least until the controller 40 detects a deviation of the turbinerotational speed Nt from the second-speed synchronous rotation speed (attime c in FIG. 13). Thus, the second-speed clutch 34 is held at theposition immediately before engaged state, as mentioned above.

When the controller 40 detects a deviation (asynchronous state) of theturbine rotational speed Nt from the second-speed synchronous rotationspeed Nti at time c in FIG. 13, the condition of Step S174 in FIG. 16 isfulfilled, and Step S200 in FIG. 20 is executed.

In Step S200, the controller 40 sets the flag IZR to "2" which indicatesthe start of speed change, and executes Step S201. In Step S201, thelengths of the elapsed time Ta, dead space elimination time Tf andhydraulic pressure release time T0' are checked, to thereby determinewhether both the disengagement of the second-speed clutch 34 and thedead space elimination of the first-speed clutch 33 have been completed.

If the result of this determination is No, then it means that theaforesaid deviation or asynchronous state is detected in the progress ofthe release of hydraulic pressure from the second-speed clutch 34 (attime c' in FIG. 13). Such a situation occurs when the release ofhydraulic pressure from the second-speed clutch 34 is actually completedbefore the stored hydraulic pressure release time T0' passes, thusincreasing the turbine rotational speed Nt. In this case, the programproceeds to Step S206, without executing Steps S202 to S204, and thecontroller 40 immediately starts feedback control of the second-speedsolenoid valve 11' (feedback control of the transmission torque),described later.

If the result of the determination in Step S201 is Yes and thus thedisengagement of the clutch 34 and the dead space elimination of theclutch 33 are both completed before the detection of the rotationaldeviation or asynchronous state, the controller 40 executes Step S202 toobtain a change rate (Nt)' of the turbine rotational speed

Then, in Step S203, the controller 40 reads a target change rate (Nir)'of turbine rotational speed for controlling the hydraulic pressure ofthe second-speed clutch 34. The target change rate (Nir)' ispredetermined according to individual downshift modes, is greater thanor equal to the target change rate (Nia)' for controlling the hydraulicpressure of the first-speed clutch 33, and is prestored in the memory ofthe controller 40.

Conversely, in a case where the target change rate (Nia)' associatedwith the first-speed clutch 33 is set to be greater than or equal to thetarget change rate (Nir)' associated with the second-speed clutch 34, ifthe engine is driven in a power-off state, the turbine rotational speedis controlled to rise based upon a large target change rate (Nia)' andthe first-speed clutch 33 is controlled for engagement. At the sametime, the turbine rotational speed is controlled to be lowered basedupon a small target change rate (Nit)' and also the second-speed clutch34 is controlled for engagement. Thus, both clutches may be engaged,possibly causing interlocking. The present invention prevents suchinterlocking by setting the target change rates so as to fulfill therelationship (Nit)'≧(Nia)'.

Subsequently, the controller 40 executes Step S204 and compares thecalculated change rate (Nt)' of turbine rotational speed with the readtarget change rate (Nit)'.

If the change rate (Nt)' of turbine rotational speed is smaller than orequal to the target change rate (Nir)' (the result of the determinationin Step S204 is No), the controller 40 executes Step S205, thusmaintaining the duty factor Dr at the hold duty factor Dkr, and executesSteps S192 to S194 in FIG. 19, thereby driving the second-speed solenoidvalve 11' at this duty factor Dr (=Dkr) (at time c in FIG. 13).

If the change rate (Nt)' of turbine rotational speed is already greaterthan the target change rate (Nit)' at the time of detection of therotational deviation (asynchronous state) (at time c in FIG. 13), asdifferent from the case illustrated in FIG. 13, and the result of thedetermination in Step S204 becomes Yes, the controller 40 executes StepS206 and sets a flag IFB to "1" which indicates the start of thefeedback control. Then, in Step S207, the initial duty factor Dr0 is setas the duty factor Dr. After determining in Step S192 of FIG. 19 whetherthe current duty factor Dr takes a value smaller than or equal to thehold duty factor Dr0, the controller 40 drives the second-speed solenoidvalve 11' at the duty factor Dr and starts the feedback control.

When the controller 40 executes this routine next, the flag IZR hasalready been set to "2" in Step S200. Thus, the result of thedetermination in Step S173 becomes Yes, and the program proceeds to StepS210 in FIG. 21.

The controller 40 obtains a change rate (Nt)' of turbine rotationalspeed in Step S210, as in the aforementioned case, and successivelyreads target change rates (Nit)' and (Nia)' of turbine rotational speedassociated with the second-speed and first-speed clutches 34 and 33,respectively, in Steps S211 and S212.

The program then proceeds to Step S213 wherein the controller 40determines whether the elapsed time Ta is longer than the dead spaceelimination time Tf and at the same time longer than the hydraulicpressure release time T0'. If the result of this determination is No,then it means that the rotational deviation (asynchronous state) isdetected in the middle of the release of hydraulic pressure from thesecond-speed clutch 34 (at time c' in FIG. 13), as in the case where theresult of the determination in Step S201 is No. In this case, theprogram proceeds to Step S224 in FIG. 22 and the controller 40immediately starts the feedback control of the second-speed solenoidvalve 11'.

On the other hand, if it is determined in Step S213 that the elapsedtime Ta is longer than the dead space elimination time Tf and at thesame time longer than the hydraulic pressure release time T0', thecontroller 40 executes Step S214 to determine whether the flag IFB isset to "1". In the illustrated case of FIG. 13, the deviation(asynchronous state) has just been detected and Step S206 is notexecuted; therefore, the flag IFB remains reset and the program proceedsto Step S220 in FIG. 22.

In Step S220, the controller 40 again compares the change rate (Nt)' ofturbine rotational speed with the target change rate (Nir)'. Thecontroller 40 continuously actuates the second-speed solenoid valve 11'at the duty factor Dkr until the rate (Nt)' exceeds the rate (Nit)', andafter the rate (Nt)' becomes greater than the rate (Nir)', starts thefeedback control.

FIG. 13 illustrates the case where the change rate (Nt)' of turbinerotational speed detected immediately after the detection of deviation(asynchronous state) is smaller than the target change rate (Nir)'. Inthis case, the program proceeds from Step S220 to Step S221, and thehold duty factor Dkr is continuously set as the duty factor Dr. Then, inStep S192 of FIG. 19, it is determined whether the current duty factorDr takes a value smaller than or equal to the hold duty factor Dkr, andthe second-speed solenoid valve 11' is actuated at the duty factor Dr(=Dkr).

Between time c and time j in FIG. 13, the controller 40 determines thatthe change rate (Nt)' of turbine rotational speed takes a value smallerthan or equal to the target change rate (Nir)', and thus continuouslyactuates the second-speed solenoid valve 11' at the duty factor Dr(=Dkr).

When the change rate (Nt)' of turbine rotational speed increases andbecomes greater than the target change rate (Nir)' (at time j), as shownin FIG. 13, the controller 40 starts the feedback control as mentionedbefore. Namely, since the result of the determination in Step S220 isYes, the controller 40 executes Step S222 to set the flag IFB to "1"which indicates the start of the feedback control. Then, in Step S233,the initial duty factor Dr0 is set as the duty factor Dr, and Steps 192to S194 are executed to start the feedback control in which thesecond-speed solenoid valve 11' is driven at the duty factor Dr (=Dr0)(j in the figure).

When the controller 40 executes this routine next, the flag IFB has beenset to "1" in Step S222, and thus the result of the determination inStep S214 becomes Yes, whereupon the program proceeds to Step S215.

In Step S215, the controller 40 compares the change rate (Nt)' ofturbine rotational speed with the target change rate (Nia)' which isused for controlling with the first-speed clutch 33. In the presentcase, the change rate (Nt)' is greater than the target value (Nia)', andthus the program proceeds from Step S215 to Step S225 in FIG. 22.

In Step S225, the controller 40 determines a duty-factor correctionamount ΔDrf based on the difference between the change rate (Nt)' ofturbine rotational speed and the target change rate (Nit)' associatedwith control of the second-speed clutch 34. The method of calculatingthe correction amount ΔDrf also is not particularly limited, and thecorrection amount is computed in the same manner as in the case of thefeedback correction amount ΔDaf for the first-speed solenoid valve 11.

Subsequently, in Step S226, the controller 40 sets a value obtained byadding the correction amount ΔDrf to the initial duty factor Dr0, as theduty factor Dr, then determines whether the current duty factor Dr takesa value smaller than or equal to the hold duty factor Dr0, in Step S192of FIG. 19, and energizes the second-speed solenoid valve 11' at thethus-set duty factor Dr.

During the period from the time j to the time k in FIG. 13, a sequenceof Steps S160, S165, S170 to S173, S210 to S215, S225, S226, and S192 toS194 is repeatedly executed while the routine is repeated. As a result,the feedback control of the duty factor of the second-speed solenoidvalve 11' is continued such that the change rate (Nt)' of turbinerotational speed becomes equal to the target change rate (Nit)'.

While the feedback control is executed, engagement of the first-speedclutch 33 progresses, as previously mentioned. When the change rate(Nt)' becomes smaller than the target value (Nia)' associated with thefirst-speed clutch 33 at time k in FIG. 13, the condition of Step S215is fulfilled and the program proceeds to Step S216.

In Step S216, the controller 40 resets the flag IFB to "0" whichindicates that the feedback control is terminated, and then sets thehold duty factor Dkr as the duty factor Dr, in Step S221 of FIG. 22.After making the determination of Step S192 in FIG. 19, the controller40 actuates the second-speed solenoid valve 11' at the duty factor Dr(=Dkr) (time k in FIG. 13). Namely, the second-speed clutch 34 is heldagain at the position immediately before engaged state.

Thereafter, the controller 40 repeatedly executes the routine, therebycontinuously actuating the second-speed solenoid valve 11' at the holdduty factor Dkr (between time k and time d in FIG. 13).

In this case, also the engagement of the first-speed clutch 33progresses, as mentioned before. As a result, the turbine rotationalspeed Nt increases as shown in FIG. 13. Then, at time d in FIG. 13,synchronization of the turbine rotational speed Nt with the first-speedrotation speed is detected (Step S172), and Step S230 in FIG. 23 isexecuted, whereby the program proceeds from the third procedure to thefourth procedure. At this time, the controller 40 starts measuring thetime Tb elapsed from the entry into the fourth procedure.

The time Tb thus measured is identical with the elapsed time Tb used inthe first-speed solenoid valve control routine, and accordingly, whenthe fourth procedure of the first-speed solenoid valve control routineis already started, the time Tb measured from the start of the fourthprocedure in the first-speed control routine is used as the elapsed timeTb for the second-speed control routine.

In Step S230, the controller 40 sets the flag IZR to "3", and then inStep S232, reads the elapsed time Tb. The program proceeds to Step S233,wherein the controller 40 compares the elapsed time Tb with the sumtotal of the aforementioned times T1 and T2.

In the present case, synchronization with the first-speed synchronousrotation speed has just been detected in Step S172, and therefore, theelapsed time Tb is shorter than the time (T1+T2). Thus, the controller40 executes Step S234 to determine whether the flag IFB is set to "1".

When the flag IFB is reset at the time of detection of thesynchronization with the first-speed synchronous rotation speed, theprogram proceeds from Step S234 to Step S240 in FIG. 24. In Step S240,the controller 40 sets the flag IFB to "1" which indicates that thefeedback control has been started, and then in Step S241, sets theinitial duty factor Dr0 as the duty factor Dr. Subsequently, thecontroller 40 executes Steps S192 to S194 in FIG. 19 and energizes thesecond-speed solenoid valve 11' at the duty factor Dr (time d in FIG.13).

When the controller 40 executes this routine next, Steps S160, S165,S170 and S171 are executed. Since the flag IZR has been set to "3" inStep S230 of FIG. 23, the program proceeds from Step S171 to Step S232in FIG. 23.

After reading the elapsed time Tb in Step S232, the controller 40compares the elapsed time Tb with the time (T1+T2), in Step S233. Duringthe period from time d to time f in FIG. 13, the elapsed time Tb isshorter than the time (T1+T2) and the result of the determination inStep S233 is No, and thus the controller executes Step S234.

The result of the determination in Step S234 becomes Yes because theflag IFB has been set to "1" in Step S240, and accordingly, the programproceeds to Step S244 in FIG. 25. In Step S244, the controller 40calculates a change rate (Nt)' of the turbine rotational speed Nt, andin Step S245, reads a target change rate (Nit)' of turbine rotationalspeed from the map stored in the memory.

FIG. 27 shows the relationship between the target change rate (Nir)' tobe read and a difference Ns in the rotational speed. First, thecontroller 40 obtains a product of the rotational speed No of thetransfer drive gear, detected by the No sensor 22, and a second-speedgear ratio K2, then obtains a rotational speed difference Ns (=Nt-K2·No)between the product and the turbine rotational speed Nt, and determinesthe target change rate (Nir)' of turbine rotational speed based upon thevalue of the rotational speed difference Ns.

Specifically, when the rotational speed difference Ns takes a negativevalue, the target change rate (Nir)' is set at a positive value whichgradually increases as the rotational speed difference Ns increases inthe negative direction; when the rotational speed difference Ns isgreater than or equal to "0" and at the same time smaller than or equalto the predetermined value ΔNf, the target change rate is set at apredetermined positive value; and when the rotational speed differenceNs is greater than ΔNf, the target change rate is set at a negativevalue which gradually decreases with increase in the rotational speeddifference Ns.

Referring again to FIG. 25, the controller 40 executes Step S246 anddetermines a duty-factor correction amount ΔDrf based on the differencebetween the change rate (Nt)' and the target value (Nit)', by acalculation method similar to that used for obtaining the feedbackcorrection amount ΔDaf of the first-speed solenoid valve 11.

The controller 40 then sets the sum of the feedback initial value Dr0and the correction amount ΔDrf as the duty factor Dr, in Step S247, anddrives the second-speed solenoid valve 11' at the thus-set duty factorDr, in Steps S192 to S194 in FIG. 19.

When the elapsed time Tb reaches the time (T1+T2) (at time f in FIG. 13)while the controller 40 continues the feedback control of thesecond-speed clutch 34, the result of the determination in Step S233 ofFIG. 23 becomes Yes, and thus the program proceeds from Step S233 toStep S250 in FIG. 26.

In Step S250, the controller 40 operates the second-speed solenoid valve11' at a 0% duty factor, whereby the second-speed clutch 34 becomescompletely disengaged. At this time, the first-speed clutch 33 iscompletely engaged, as mentioned before, and therefore, the switching ofclutch connection between the clutches 33 and 34 is completed and thedownshift of the automatic transmission 2 from the second to the firstspeed is accomplished.

Then, the controller 40 resets the flags IZR and IFB to "0" in StepS251, and ends the execution of the control routine.

In the feedback control of the foregoing embodiment, the change rate(Nt)' of the turbine rotational speed is used as a quantity representingthe speed-change state of the automatic transmission 2. However, theturbine rotational speed Nt, a rate (Nt)" of change in the change rate(Nt)' of the turbine rotational speed or the like may be used as thespeed-change state quantity.

From the above-described embodiment of the present invention, it isapparent that the present invention may be modified as would occur toone of ordinary skill in the art without departing from the spirit andscope of the present invention which should be defined solely by theappended claims. All such modifications as would be obvious to one ofordinary skill in the art should not be regarded as a departure from thespirit and scope of the invention, and should be included within thescope of the invention as defined solely by the appended claims.

What is claimed is:
 1. In an automotive automatic transmission includinga first frictional engaging element for establishing a first gear stage,a second frictional engaging element for establishing a second gearstage, a first electromagnetic valve for controlling an operating oilpressure supplied to the first frictional engaging element, and a secondelectromagnetic valve for controlling an operating oil pressure suppliedto the second frictional engaging element, a speed change controlapparatus for controlling the first and second electromagnetic valvessuch that the first frictional engaging element, which has been engaged,is released, and the second frictional engaging element, which has beenreleased, is engaged, to carry out a shift from the first gear stage tothe second gear stage, said speed change control apparatuscomprising:operating state detecting means for detecting an operatingstate quantity of the automatic transmission; and feedback controller,said feedback controller including,feedback target value setting meansfor setting first and second feedback target values; first feedbackcontrol means for feedback-controlling the first electromagnetic valvesuch that the operation state quantity detected by the operating statedetecting means converges to the first feedback target value; and secondfeedback control means for feedback-controlling the secondelectromagnetic valve such that the operation state quantity detected bythe operating state detecting means converges to the second feedbacktarget value, the first feedback target value being set to be greaterthan or equal to the second feedback target value, whereby said shiftfrom the first gear stage to the second gear stage is carried oututilizing feedback-control of both the first and second electromagneticvalves.
 2. The speed change control apparatus according to claim 1,further including:means for interrupting the feedback control of thefirst feedback control means and making the transmission torque throughthe first frictional engaging element substantially zero when thedetected operation state quantity becomes smaller than or equal to thesecond feedback target value.
 3. The speed change control apparatusaccording to claim 1, wherein said operation state quantity isrepresented by a rate of change in rotational speed of an input shaft ofthe automatic transmission.
 4. The speed change control apparatusaccording to claim 1, further including:asynchronous state detectingmeans for detecting an asynchronous state, where said first gear stageis disengaged; and synchronous state detecting means for detecting asynchronous state, where said second gear stage is established, thefeedback control for said first and second electromagnetic valves beingcarried out during at least a time period starting at a moment when theasynchronous state is detected and ending at a moment when thesynchronous state is detected.
 5. A speed change control method for anautomotive automatic transmission in which a first frictional engagingelement, which has been engaged, is released, and a second frictionalengaging element, which has been released, is engaged, to carry out ashift from a first gear stage to a second gear stage, said speed changecontrol method comprising the steps of:(a) setting a first feedbacktarget value; (b) setting a second feedback target value smaller thanthe first feedback target value; (c) detecting an operating statequantity indicative of an operating state of the automatic transmission;and (d) feedback-controlling a transmission torque through a firstelectromagnetic valve connected to the first frictional engaging elementsuch that the detected operation state quantity converges to the firstfeedback target value; (e) feedback-controlling a transmission torquethrough a second electromagnetic valve connected to the secondfrictional engaging element such that the detected operation statequantity converges to the second feedback target value.
 6. The speedchange control method according to claim 5, further including the stepof,(f) interrupting the feedback control of step (d) associated with thefirst frictional engaging element; and (g) rendering the transmissiontorque through the first frictional engaging element substantially zero,steps (f) and (g) occurring upon the operation state quantity becomingsmaller than or equal to the second feedback target value.
 7. The speedchange control method according to claim 5, wherein said operation statequantity is represented by a rate of change in rotational speed of aninput shaft of the automatic transmission.
 8. The speed change controlmethod according to claim 5, further including the steps of:(f)detecting an asynchronous state, where said first gear stage isdisengaged; and (g) detecting a synchronous state, where said secondgear stage is established, the feedback control for said first andsecond electromagnetic valves being carried out during at least a timeperiod starting at a moment when the asynchronous state is detected andending at a moment when the synchronous state is detected.
 9. A methodfor, by controlling first and second electromagnetic valves to release apreviously engaged first frictional engaging element and engage apreviously released second frictional engaging element, respectively,carrying out a shift from a first gear stage to a second gear stage inan automatic transmission, the automatic transmission including thefirst frictional engaging element for establishing a first gear stage,the second frictional engaging element for establishing a second gearstage, the first electromagnetic valve for controlling operating oilpressure supplied to the first frictional engaging element, and thesecond electromagnetic valve for controlling operating oil pressuresupplied to the second frictional engaging element, the methodcomprising the steps of:(a) detecting a rotational speed change rate ofan input shaft of the automatic transmission; (b) feedback controllingpressure of the operating oil supplied to the first electromagneticvalve upon the detected rotational speed change rate being greater thana first predetermined target speed change rate; and (c) feedbackcontrolling pressure of the operating oil supplied to the secondelectromagnetic valve upon the detected rotational speed change ratebeing greater than a second predetermined target speed change rate, thefirst predetermined target speed change rate being greater than thesecond predetermined target speed change rate, to thereby carry out ashift from a first gear stage to a second gear stage irrespective of anengine driving state.
 10. The method of claim 9, further comprising thestep of:(d) inhibiting feedback control of step (b) upon the detectedrotational speed change rate being less than or equal to the secondpredetermined target speed change rate.
 11. The method of claim 9,wherein step (b) includes the substeps of,(1) controlling the pressureof the operating oil supplied to the first electromagnetic valve basedupon a first predetermined duty factor, and (2) incrementally adjustingthe first predetermined duty factor to thereby provide feedback control.12. The method of claim 11, wherein step (b)(2) includes the furthersubsteps of,determining a first duty factor correction amount from adifference between the detected rotational speed change rate and thefirst predetermined target speed change rate, and adding the determinedfirst duty factor correction amount to the first predetermined dutyfactor to thereby provide the incremental adjustment.
 13. The method ofclaim 9, wherein step (c) includes the substeps of,(1) controlling thepressure of the operating oil supplied to the second electromagneticvalve based upon a predetermined duty factor, and (2) incrementallyadjusting the predetermined duty factor to thereby provide feedbackcontrol.
 14. The method of claim 13, wherein step (c)(2) includes thefurther substeps of,determining a duty factor correction amount from adifference between the detected rotational speed change rate and thesecond predetermined target speed change rate, and adding the determinedduty factor correction amount to the predetermined duty factor tothereby provide incremental adjustment.
 15. The method of claim 12,wherein step (c) includes the substeps of,(1) controlling the pressureof the operating oil supplied to the second electromagnetic valve basedupon a second predetermined duty factor, and (2) incrementally adjustingthe second predetermined duty factor to thereby provide feedbackcontrol.
 16. The method of claim 15, wherein step (c)(2) includes thefurther substeps of,determining a second duty factor correction amountfrom a difference between the detected rotational speed change rate andthe second predetermined target speed change rate, and adding thedetermined second duty factor correction amount to the secondpredetermined duty factor to thereby provide incremental adjustment. 17.The method of claim 16, further comprising the step of:(d) inhibitingfeedback control of step (b) upon the detected rotational speed changerate being less than or equal to the second predetermined target speedchange rate.
 18. The speed change control method according to claim 9,further including the steps of:(d) detecting an asynchronous state,where said first gear stage is disengaged; and (e) detecting asynchronous stage, when said second gear stage is established, thefeedback control for said first and second electromagnetic valves beingcarried out during at least a time period starting at a moment when theasynchronous state is detected and ending at a moment when thesynchronous state is detected.
 19. An apparatus for, by controllingfirst and second electromagnetic valves to release a previously engagedfirst frictional engaging element and engage a previously releasedsecond frictional engaging element, respectively, carrying out a shiftfrom a first gear stage to a second gear stage in an automatictransmission, the automatic transmission including the first frictionalengaging element for establishing a first gear stage, the secondfrictional engaging element for establishing a second gear stage, thefirst electromagnetic valve for controlling operating oil pressuresupplied to the first frictional engaging element, and the secondelectromagnetic valve for controlling operating oil pressure supplied tothe second frictional engaging element, the apparatuscomprising:detection means for detecting a rotational speed change rateof an input shaft of the automatic transmission; first feedback controlmeans for feedback controlling pressure of the operating oil supplied tothe first electromagnetic valve upon the detected rotational speedchange rate being greater than a first predetermined target speed changerate; and second feedback control means for feedback controllingpressure of the operating oil supplied to the second electromagneticvalve upon the detected rotational speed change rate being greater thana second predetermined target speed change rate, the first predeterminedtarget speed change rate being greater than the second predeterminedtarget speed change rate, to thereby carry out a shift from a first gearstage to a second gear stage irrespective of an engine driving state.20. The apparatus of claim 19, further comprising:inhibiting means forinhibiting feedback control of the first feedback control means upon thedetected rotational speed change rate being less than or equal to thesecond predetermined target speed change rate.
 21. The apparatus ofclaim 19, wherein the first feedback control means includes,firstcontrolling means for controlling the pressure of the operating oilsupplied to the first electromagnetic valve based upon a firstpredetermined duty factor, and first incremental adjustment means forincrementally adjusting the first predetermined duty factor to therebyprovide feedback control.
 22. The apparatus of claim 21, wherein thefirst incremental adjustment means includes,first correction amountdetermining means for determining a first duty factor correction amountfrom a difference between the detected rotational speed change rate andthe first predetermined target speed change rate, and first adding meansfor adding the determined first duty factor correction amount to thefirst predetermined duty factor to thereby provide the incrementaladjustment.
 23. The apparatus of claim 19, wherein the second feedbackcontrol means includes,controlling means for controlling the operatingoil supplied to the second electromagnetic valve based upon apredetermined duty factor, and incremental adjustment means forincrementally adjusting the predetermined duty factor to thereby providefeedback control.
 24. The apparatus of claim 23, wherein the incrementaladjustment means includes,correction amount determining means fordetermining a duty factor correction amount from a difference betweenthe detected rotational speed change rate and the second predeterminedtarget speed change rate, and adding means for adding the determinedduty factor correction amount to the predetermined duty factor tothereby provide incremental adjustment.
 25. The apparatus of claim 22,wherein the second feedback control means includes,second control meansfor controlling the operating oil supplied to the second electromagneticvalve based upon a second predetermined duty factor, and secondincremental adjustment means for incrementally adjusting the secondpredetermined duty factor to thereby provide feedback control.
 26. Theapparatus of claim 25, wherein the second incremental adjustment meansincludes,second determining means for determining a second duty factorcorrection amount from a difference between the detected rotationalspeed change rate and the second predetermined target speed change rate,and second adding means for adding the determined second duty factorcorrection amount to the second predetermined duty factor to therebyprovide incremental adjustment.
 27. The apparatus of claim 26, furthercomprising:inhibiting means for inhibiting feedback control of the firstfeedback control means upon the detected rotational speed change ratebeing less than or equal to the second predetermined target speed changerate.
 28. The speed change control apparatus according to claim 19,further including:asynchronous state detecting means for detecting anasynchronous state, where said first gear stage is disengaged; andsynchronous state detecting means for detecting a synchronous state,where said second gear stage is established, the feedback control forsaid first and second electromagnetic valves being carried out during atleast a time period starting at a moment when the asynchronous state isdetected and ending at a moment when the synchronous state is detected.